CN108886333A - Method and control circuit for current measurement in a polyphase electric machine - Google Patents
Method and control circuit for current measurement in a polyphase electric machine Download PDFInfo
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- CN108886333A CN108886333A CN201780022767.6A CN201780022767A CN108886333A CN 108886333 A CN108886333 A CN 108886333A CN 201780022767 A CN201780022767 A CN 201780022767A CN 108886333 A CN108886333 A CN 108886333A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/28—Arrangements for controlling current
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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Abstract
提出了用于在多相的电机(100)中进行电流测量的一种方法和一种控制线路(10),所述电机具有至少一个带有m个相(u、v、w)的第一m相的线圈系统(110)以及带有m个相(u'、v'、w')的第二m相的线圈系统(120),其中给每一相(u、v、w、u'、v'、w')设置了一高侧‑开关(HS)以及一低侧‑开关(LS),其中每个线圈系统形成所述电机(10)的一子机器(110;120)。因此,所述机器具有N=2m=6个相。该机器在仅仅使用m=N/2个分流电阻(R1、R2、R3)的情况下进行电流测量,其中所述子机器(110、120)的线圈接头(111、121;…)的如下的相(u,u';…)被一起引导到所述分流电阻(R1、R2、R3)中的一个分流电阻上:所述相在它们的相上是同种类型的——也就是说相互间处于固定的相位偏移(≥0)上。
A method and a control circuit (10) for current measurement in a polyphase electric machine (100) having at least one first phase (u, v, w) with m phases (u, v, w) are proposed. A coil system (110) of m phases and a coil system (120) of a second m phase with m phases (u', v', w'), where for each phase (u, v, w, u' , v', w') a high-side-switch (HS) and a low-side-switch (LS) are provided, wherein each coil system forms a sub-machine ( 110 ; 120 ) of the electric motor ( 10 ). Thus, the machine has N=2m=6 phases. The machine performs current measurement using only m=N/2 shunt resistors (R1, R2, R3), wherein the coil connections (111, 121; . . . ) of the sub-machines (110, 120) are as follows The phases (u, u'; ...) are led together to one of the shunt resistors (R1, R2, R3): the phases are of the same type in their phases - that is to say mutually are at a fixed phase offset (≥0).
Description
本发明涉及一种根据权利要求1的前序部分所述的、用于在多相的电机中进行电流测量的方法以及一种用于执行该方法而提供的控制线路。The invention relates to a method according to the preamble of claim 1 for current measurement in a polyphase electric machine and to a control circuit provided for carrying out the method.
原则上已知的是:多相的电机或者电的旋转场驱动借助于合适的调制和整流来进行操控。特别地对于无刷的直流电机来说脉宽调制(PWM)是经受到考验的,其中取决于各个存在的要求地使用各个整流种类——例如正弦整流或者块整流(Blockkommutierung)。所述控制线路或者调整的这种方式可以在具有任意的相数的电机上使用。但是在实践中人们最经常地遇到具有三相的电机。但是也存在具有更高的相数的电机——例如具有六相或者九相的电机。在六相的机器中,该机器可以由分别具有三相(u、v、w)的两个线圈系统搭建而成,所述机器可以由此电地划分成两个分别具有三相的结构的子机器(Teilmaschine)。在所说的机器和运行类型中、特别是在块整流的PWM中,精确的电流测量有重要的意义,因为在这种运行类型中执行了一种电流控制,对于该电流控制来说,实际电流的精确的测量是必需的。In principle, it is known that polyphase electric machines or electric rotating field drives are actuated by means of suitable modulation and commutation. In particular, pulse width modulation (PWM) has proven itself for brushless DC motors, wherein depending on the respective requirements present, various commutation types are used—for example sinusoidal commutation or block commutation. This type of control circuit or adjustment can be used for electric machines with any number of phases. In practice, however, one most often encounters electric machines with three phases. However, there are also motors with a higher number of phases—eg motors with six or nine phases. In a six-phase machine, the machine can be constructed from two coil systems each having three phases (u, v, w), from which the machine can be electrically divided into two three-phase structures Submachine (Teilmaschine). Accurate current measurement is of great importance in said machine and type of operation, especially in PWM with block commutation, because in this type of operation a current control is performed for which the actual Accurate measurement of current is required.
通常的用于在多相的电机中进行电流测量的方法应借助于附图—图1和2在这里简短地进行解释:正如图1所示出的那样,在三相的机器中或者在交流驱动中常见的是:使用一种控制线路,该控制线路每一相u、v、和w分别具有一高侧-开关HS和一低侧-开关LS,该高侧-开关和低侧-开关例如通过被操控的MOSFET来实现。分别位于HS和LA之间的连接点通向所述马达的三个线圈其中之一。该线路在馈入侧处由直流电源(例如电池)供给,其中在直流中间电路ZK中(与电容串联地)装入了一种分流电阻R,所述分流电阻使得用于操控所述机器的电流测量成为可能。只使用了一个分流器,由此可以实现成本有利的电流测量。但是,唯一的电流传感器的故障可能使得所述测量不可使用,也使得当在各个相中出现失真(Verzerrung)时不能被识别。The usual method for current measurement in polyphase motors should be briefly explained here with the aid of the accompanying drawings - Figures 1 and 2: As shown in Figure 1, in a three-phase machine or in AC Common in drives is the use of a control circuit with a high-side-switch HS and a low-side-switch LS for each phase u, v, and w respectively, the high-side-switch and low-side-switch This is done, for example, by actuated MOSFETs. The connection points between HS and LA respectively lead to one of the three coils of the motor. This line is supplied on the infeed side by a DC power source (e.g. a battery), in which a shunt resistor R is inserted (in series with the capacitor) in the DC intermediate circuit ZK, which makes the Current measurement becomes possible. Only one shunt is used, whereby cost-effective current measurement can be achieved. However, a failure of a single current sensor can render the measurement unusable and also prevent detection of distortions occurring in the individual phases.
原则上也已知具有多于三个相的机器,其中下述的交流驱动也属于该范畴:在所述交流驱动中例如设置了2x3个相,由此形成了具有m=3个相(u、v、w)的第一个三相的线圈系统以及具有m=3个相(u'、v'、w')的第二个三相的线圈系统,以至于每个线圈系统是所述电机的一个子机器(Teilmaschine),这里例如那么存在各具有三个相的两个子机器。特别地在具有多于三个相的机器中(见图2),通过例如分别在低侧装入一分流器这种方式来实现每一相使用一分流电阻,用于进行电流测量。由此,虽然单个的电流传感器可能出现的故障不那么强烈地具有重要意义,但是费用支出明显地更高。例如如果使用一种六相的机器,那么通常需要六个分流器。In principle, machines with more than three phases are also known, wherein the following AC drives are also included in this category in which, for example, 2x3 phases are provided, whereby a system with m=3 phases (u , v, w) of the first three-phase coil system and a second three-phase coil system with m=3 phases (u', v', w'), so that each coil system is the A submachine of the electric machine, here for example two submachines each having three phases. Especially in machines with more than three phases (see FIG. 2 ), the use of a shunt resistor per phase for current measurement is achieved, for example, by incorporating a shunt on the low side in each case. As a result, although possible faults of individual current sensors are less significant, the outlay is significantly higher. For example if a six-phase machine is used, six shunts are typically required.
因此已知下述的方法和控制:该方法和控制适合用于在多相的电机中的电流测量,该电机具有至少一个带有m个相的(u、v、w)的第一个m相的线圈系统和带有m个相(u'、v'、w')的第二个m相的线圈系统,其中给每一相(u、v、w;u'、v'、w')设置了一高侧-开关(HS)和一低侧-开关(LS),其中每个线圈系统形成所述电机(10)的一个子机器(110;120)。A method and a control are therefore known which are suitable for current measurement in multiphase electric machines having at least one first m with m phases (u, v, w) phase and a second m-phase coil system with m phases (u', v', w'), where for each phase (u, v, w; u', v', w' ) is provided with a high-side switch (HS) and a low-side switch (LS), wherein each coil system forms a sub-machine ( 110 ; 120 ) of the electric machine ( 10 ).
本发明的任务是:建议一种方法和一种按此进行工作的控制线路,用于在多相的电机中进行电流测量,它没有上面所说的缺点,而是以有利的方式克服了。特别地要建议一种方法和一种控制线路,该控制线路对于电流传感器的故障更不易受到影响,并且尽管如此还可以成本有利地实现。The object of the present invention is to propose a method and a control circuit operating therefor for current measurement in polyphase electric machines which do not have the above-mentioned disadvantages but are advantageously overcome. In particular, a method and a control circuit are to be proposed which are less susceptible to faults of the current sensor and which can nonetheless be realized cost-effectively.
所述任务通过具有权利要求1的特征的方法以及通过具有并列权利要求的特征的控制线路得到解决。The object is achieved by a method having the features of claim 1 and by a control circuit having the features of the co-claims.
因此,在N相的机器中,在使用N/2个分流电阻的情况下进行所述电流测量,其中所述子机器的线圈接头的同种类型的相被一起引导到所述分流电阻中的一个分流电阻上,所述同种类型的相彼此位于固定的相位偏移或者说周相移动(Phasenversatz)(≥0)上。也就是说,子机器的同种类型的相(所述同种类型的相是同相的(Phasengleich)或者也可以相互间具有固定的相位偏移>0)分别共同地聚集到一个分流电阻上。在六相的旋转场驱动中,这意味着:每两个特别是同相的相(例如u和u')从两个子机器被引导到一个分流电阻上。因此只需要三个分流器(N/2=3),由此节省了费用,而不必忍受在电流测量的品质方面的损失。所述分流器可以优选地构造在基底(例如DBC或者IMS)上,但是所述分流器也可以构造在电路板(PCB)或者模制模件(Moldmodul)上。Therefore, in an N-phase machine, the current measurement is carried out using N/2 shunt resistors, wherein the phases of the same type of coil connections of the sub-machines are routed together into one of the shunt resistors. At a shunt resistor, the phases of the same type lie at a fixed phase offset or phase shift (≧0) relative to one another. That is to say, the phases of the sub-machines of the same type (which are in-phase or can also have a fixed phase offset >0 relative to each other) are collectively connected to a shunt resistor. In the case of a six-phase rotating field drive, this means that every two, in particular, phase-in-phase phases (for example u and u′) are routed from two sub-machines to a shunt resistor. Only three shunts are therefore required (N/2=3), which saves costs without having to suffer losses in the quality of the current measurement. The shunt can preferably be formed on a substrate (for example DBC or IMS), but it can also be formed on a printed circuit board (PCB) or a molded module.
根据所述方法来工作的所述控制线路可以优选地在一种用于电的助力转向的控制装置中实施。The control circuit operating according to the method can preferably be implemented in a control device for electric power steering.
该优点和另外的优点也由从属权利要求中得知。This and further advantages are also evident from the dependent claims.
如果多相的电机例如具有两个线圈系统并且因此具有两个子机器——所述子机器分别具有三个(m=3)相,那么第一同种类型的(特别地同相的)相被一起引导到第一分流电阻上;第二同种类型的(特别地同相的)相被一起引导到第二分流电阻上,并且第三同种类型的(特别地同相的)相被一起引导到第三分流电阻上。If a polyphase electric machine has, for example, two coil systems and thus two sub-machines each having three (m=3) phases, then the first phases of the same type (in particular the same phase) are combined together lead onto the first shunt resistor; the second phases of the same type (especially in-phase) are led together onto the second shunt resistor, and the third phases of the same type (especially in-phase) are led together onto the second shunt resistor three shunt resistors.
所述分流电阻分别直接地布置在高侧-开关上或者直接布置在低侧-开关上,所述分流电阻可以构造在基底上、特别是构造在DBC基底(Dierect-Bonden-Copper Substrate(直接敷铜基底))或者IMS(Insulated Metal Substrate(绝缘的金属基底))上。所述分流电阻也可以构造在电路板(Printed Circuit Board,PCB(印刷电路板))上或者构造在模制模件上。The shunt resistors are respectively arranged directly on the high-side switch or directly on the low-side switch, and the shunt resistors can be constructed on a substrate, in particular on a DBC substrate (Dierect-Bonden-Copper Substrate (Direct Bonded Substrate) Copper substrate)) or IMS (Insulated Metal Substrate (insulated metal substrate)). The shunt resistor can also be formed on a printed circuit board (PCB (printed circuit board)) or on a molded module.
所述电流测量优选地这样实现,以至于该电流测量对于每个子机器地以及分别在一时间间隔或者时刻上进行,在该时间间隔或者时刻上所有的高侧-开关或者所有的低侧-开关都被接通。The current measurement is preferably carried out in such a way that it is carried out for each submachine and each at a time interval or instant at which all high-side switches or all low-side switches are connected.
以下借助于实施例并且参照附图详细地描述本发明以及由本发明得出的优点,所述附图描述了以下示意性的示图:The invention and the advantages resulting from the invention are described in detail below with the aid of exemplary embodiments and with reference to the accompanying drawing, which depicts the following schematic illustration:
图1 示出了传统的用于三相的电机的控制线路,该控制线路具有在中间电路上的中心的分流器;FIG. 1 shows a conventional control circuit for a three-phase motor with a central shunt on the intermediate circuit;
图2 示出了传统的用于n相的电机的控制线路,该控制线路具有在每一相上的分流器;Figure 2 shows a conventional control circuit for an n-phase motor with a shunt on each phase;
图3 示出了根据本发明的用于六相的电机的控制线路,该控制线路对于两个同种类型的相分别具有一个分流器,所述相这里例如互相是同相的;并且FIG. 3 shows a control circuit according to the invention for a six-phase motor with a shunt in each case for two phases of the same type, said phases being, for example, mutually in-phase here; and
图4 示出了用于控制信号的以及对于时刻的时间曲线,在所述时刻上执行电流测量。FIG. 4 shows the time profile for the control signal and for the instant at which the current measurement is performed.
示出了传统的电路的图1和2已经在开头被说明了。1 and 2 showing conventional circuits have already been explained at the beginning.
与此不同的是,图3示出了控制线路10,所述控制线路根据本发明的第一实施例来实施。示例地要操控一种具有N=6个相的机器,其中构造了2x3(m=3)个相,以至于所述机器可以被看成能够被划分成2个子机器。所述一个子机器的3个线圈被标记为110,另外的子机器的3个线圈被标记成120。两个子机器通过下述方法被平行地操控:相u与相u'、相v与v'并且相w与w'是同相的(或者对此在一种固定的相位偏移上)。In contrast to this, FIG. 3 shows a control circuit 10 which is implemented according to the first exemplary embodiment of the invention. By way of example, a machine with N=6 phases is to be operated, wherein 2×3 (m=3) phases are constructed so that the machine can be considered to be divided into 2 sub-machines. The 3 coils of the one sub-machine are referenced 110 and the 3 coils of the other sub-machine are referenced 120 . The two sub-machines are operated in parallel in such a way that phase u with phase u', phase v with v' and phase w with w' are in-phase (or at a fixed phase offset for this).
根据本发明,现在两个是相互同种类型的相分别被引导到一个分流电阻上。在此那么所述第一相u与u'被引导到分流电阻R1上,第二相v和v'被引导到分流器R2上,并且第三相w与w'被引导到分流器R3上。在图3中,分流电阻R1-R3被安装在低侧LS上,所述分流电阻也可以被安装在高侧HS上。总共只需要像所述机器所具有的相的一半那么多(N/2)的分流器。According to the invention, now two mutually identical phases are each routed to a shunt resistor. The first phases u and u' are then conducted to the shunt resistor R1, the second phases v and v' to the shunt R2 and the third phases w and w' to the shunt R3 . In FIG. 3, shunt resistors R1-R3 are mounted on the low side LS, which may also be mounted on the high side HS. Altogether only half as many (N/2) splitters are needed as the machine has phases.
所述概念“同种类型的相”表达了:涉及相互间具有固定的相位偏移X的相,所述相位偏移也可以是零(相位相同)。这通过以下的公式表达出来:The term “phases of the same type” expresses that these are phases that have a fixed phase offset X relative to one another, which can also be zero (same phase). This is expressed by the following formula:
和; and ;
和; and ;
和; and ;
其中X={0 … 360°}。where X={0...360°}.
借助于图4说明了一种优选的对于所述高侧-开关HS和对于所述低侧-开关LS或者对于所述相的操控。如果这里在时刻T1的区域中所述第一子机器的所有的三个相u、v和w都被接通,那么可以实现在分流器R1-R3上的第一电流测量。由此可以执行对于第一子机器110的电流测量。在更晚的时刻T2时,如果第二子机器的所有的三个相u'、v'和w'被接通,那么再一次地执行在分流器R1-R3上的电流测量,其中该测量那么只适用于该子机器120。A preferred actuation of the high-side switch HS and of the low-side switch LS or of the phases is explained with reference to FIG. 4 . If all three phases u, v and w of the first submachine are switched on here in the region of time T1, a first current measurement at the shunt R1-R3 can take place. A current measurement for the first submachine 110 can thus be carried out. At a later time T2, if all three phases u', v' and w' of the second submachine are switched on, the current measurement on the shunt R1-R3 is performed again, wherein the measurement Then only for this submachine 120 .
所述借助于这里说明的块整流的PWM所进行的操控能够这样地调节,以至于不出现附加的失真,并且因此所述电流测量的品质非常高。因为通过所述多相性,在中间电路电容中的电流变得更少地波浪形。The actuation by means of the block-commutated PWM described here can be adjusted in such a way that no additional distortion occurs and the quality of the current measurement is therefore very high. Because of the inhomogeneity, the current in the intermediate circuit capacitance becomes less wave-shaped.
此外相比于传统的方法(见图1),即使在一个分流器停止工作之后,一种应急运行也还是可能的。Furthermore, an emergency operation is possible even after a shunt has stopped working compared to conventional methods (see Fig. 1).
这里所描述的、将所述两个子机器的每两个相到一个分流器上的合并可以由此实现:所述合并分别在一种基底——例如DBC或者IMS上实现。The merging of each of the two phases of the two submachines to a splitter as described here can be realized in that the merging is each carried out on a substrate, for example DBC or IMS.
概括地说,建议了用于在多相的电机100中进行电流测量的一种方法和一种控制线路10,所述电机具有至少一个带有m个相u、v、w的第一m相的线圈系统110以及带有m个相u'、v'、w'的第二m相的线圈系统120,其中给每一相u、v、w;u'、v'、w'设置了一高侧-开关HS和一低侧-开关LS,其中每个线圈系统构成了电机10的子机器110;120。因此所述机器具有N=2m=6个相。该机器仅仅在使用了m=N/2个分流电阻R1、R2、R3的情况下进行电流测量,其中子机器110、120的线圈接头111、121;…的如下的相u、u';…被一起引导到分流电阻R1、R2、R3中的一个分流电阻上:所述相在它们的相上是同种类型的、也就是说相互位于固定的相位偏移≥0上。In summary, a method and a control circuit 10 are proposed for current measurement in a multiphase electric machine 100 having at least one first m phase with m phases u, v, w Coil system 110 and coil system 120 of the second m phases with m phases u', v', w', wherein for each phase u, v, w; u', v', w' is provided with a A high-side switch HS and a low-side switch LS, each coil system forming a submachine 110 ; 120 of the electric machine 10 . The machine thus has N=2m=6 phases. The machine only performs current measurement when m=N/2 shunt resistors R1, R2, R3 are used, wherein the coil connections 111, 121 of the sub-machines 110, 120; ... the following phases u, u'; ... Lead together to one of the shunt resistors R1 , R2 , R3 : the phases are of the same type with respect to their phases, that is to say at a fixed phase offset ≧0 relative to one another.
附图标记列表:List of reference signs:
10 控制线路;10 control lines;
100 电机;100 motors;
110、120 第一或者第二子机器(Teilmaschine)(第一或者第二线圈系统);110, 120 first or second sub-machine (Teilmaschine) (first or second coil system);
u、v、w 第一子机器的相(电压/电流);u, v, w phase (voltage/current) of the first sub-machine;
u'、v'、w' 第二子机器的相(电压/电流);u', v', w' phases (voltage/current) of the second sub-machine;
HS、LS 高侧-开关(Hihgside-Schalter)或者低侧-开关(Lowside-Schalter);HS, LS high-side-switch (Hihgside-Schalter) or low-side-switch (Lowside-Schalter);
15 中间电路电容;15 Intermediate circuit capacitance;
R1、R2、R3 分流电阻;R1, R2, R3 shunt resistors;
T1、T2 用于电流测量的时刻。T1, T2 are used for the moment of current measurement.
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PCT/EP2017/054261 WO2017178142A1 (en) | 2016-04-11 | 2017-02-24 | Method and control circuit for measuring a current in a multiphase electric machine |
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CN103229407A (en) * | 2010-11-24 | 2013-07-31 | 松下电器产业株式会社 | DC power source device |
CN103563240A (en) * | 2011-05-30 | 2014-02-05 | 罗伯特·博世有限公司 | Method for determining current in a polyphase machine |
WO2015125269A1 (en) * | 2014-02-21 | 2015-08-27 | 三菱電機株式会社 | Ac rotating machine control device and electric power steering control device |
WO2016080521A1 (en) * | 2014-11-20 | 2016-05-26 | 日本精工株式会社 | Heat dissipation substrate for mounting electric component |
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